JP2015217848A - Vehicle acceleration-deceleration control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle acceleration-deceleration control apparatus capable of smoothly changing the direction and magnitude of inertia force exerted on a vehicle or passenger in the process of entering a curve to exiting it.SOLUTION: A vehicle acceleration-deceleration control apparatus (10) includes: a maximum lateral acceleration obtainment part (12) for obtaining maximum lateral acceleration that a vehicle (1) can generate while turning; a curve form information obtainment part (14) for obtaining form information, including a curvature radius, of a curve existing ahead of the vehicle; a target acceleration-deceleration setup part (16) for setting a target acceleration to be applied to a start point of the curve as deceleration equivalent to the maximum lateral acceleration, setting target deceleration to be applied to a minimum curvature radius point of the curve at zero ("0"), and setting target deceleration to be applied to between the start point of the curve and the minimum curvature radius point thereof so as to decrease from the start point toward the minimum curvature radius point; and an acceleration-deceleration control part (18) for controlling deceleration of the vehicle in its progress direction along the set target deceleration applied when the vehicle travels from the start point of the curve and the minimum curvature radius point thereof.

Description

  The present invention relates to a vehicle acceleration / deceleration control device, and more particularly, to a vehicle acceleration / deceleration control device that controls acceleration / deceleration in the traveling direction of a vehicle from entry to exit from a curve.

  Conventionally, steering is performed by adjusting the deceleration during cornering so that a series of operations (braking, steering cut, acceleration, steering return, etc.) by the driver when driving a vehicle curve is natural and stable. A device that adjusts the load applied to the front wheel, which is a wheel, is known. For example, Patent Document 1 controls the acceleration / deceleration in the traveling direction based on the lateral jerk generated in the vehicle in response to the steering operation during the curve traveling of the vehicle, and considers the deceleration during the curve traveling. A vehicle motion control device that reduces the driver's uncomfortable feeling by determining the deceleration before entering the curve is disclosed.

JP 2011-88576 A

  However, the device of Patent Document 1 simply controls acceleration / deceleration during curve traveling according to lateral jerk generated in the vehicle by a steering operation, and considers the acceleration / deceleration during curve traveling before entering the curve. It is just a matter of determining the deceleration of the vehicle, and it does not take into account the relationship between the magnitude of lateral acceleration that occurs in the vehicle while driving on a curve and the magnitude of acceleration / deceleration in the direction of travel of the vehicle from entry to exit from the curve Absent. Therefore, there is a problem in that the direction and magnitude of the inertial force acting on the vehicle and the occupant suddenly fluctuate in the traveling process from entering the curve to escaping, resulting in a deterioration in ride comfort and an uncomfortable occupant.

  The present invention has been made to solve the above-mentioned problems of the prior art, and smoothly changes the direction and magnitude of the inertial force acting on the vehicle and the occupant during the traveling process from entry to exit from the curve. It is an object of the present invention to provide a vehicle acceleration / deceleration control device that can improve the ride comfort and reduce the discomfort of the passenger.

In order to achieve the above object, a vehicle acceleration / deceleration control device according to the present invention is a vehicle acceleration / deceleration control device that controls acceleration / deceleration in the traveling direction of a vehicle from entering a curve to exiting, and the vehicle is turning. Maximum lateral acceleration acquisition means for acquiring the maximum lateral acceleration that can be generated in the vehicle, curve shape information acquisition means for acquiring shape information including the curvature radius of the curve existing in front of the vehicle, and specified based on the shape information The target deceleration in the vehicle traveling direction at the start point of the curve is set to a deceleration having the same magnitude as the maximum lateral acceleration, and the target deceleration in the vehicle traveling direction at the minimum curvature radius point of the curve specified based on the shape information Is set to 0 and the target deceleration between the starting point of the curve and the minimum radius of curvature is set to decrease from this starting point toward the minimum radius of curvature. And a deceleration control means for controlling the deceleration in the traveling direction of the vehicle according to the target deceleration set by the target deceleration setting means when the vehicle travels from the start point of the curve to the minimum radius of curvature. Features.
In the present invention configured as described above, the target deceleration setting means sets the target deceleration at the start point of the curve to a deceleration having a magnitude equal to the maximum lateral acceleration that can be generated while the vehicle is turning. Then, the target deceleration in the vehicle traveling direction at the minimum radius of curvature of the curve is set to 0, and the target deceleration between the starting point of the curve and the minimum radius of curvature is changed from this starting point to the minimum radius of curvature. Therefore, the acceleration that the occupant feels when entering the curve is matched with the maximum lateral acceleration that the occupant feels while driving the curve. The direction and size can be changed smoothly. This makes it possible to smoothly change the direction and magnitude of the inertial force acting on the vehicle and the occupant during the travel process from entering the curve to during cruising, thereby improving ride comfort and reducing occupant discomfort. can do.

In the present invention, it is preferable that the target deceleration setting means has a curve start point and a radius of curvature so that the magnitude of the combined acceleration of the deceleration in the traveling direction and the lateral acceleration in the turning vehicle is constant. Set the target deceleration in the direction of travel of the vehicle between the minimum point.
In the present invention configured as described above, the target deceleration setting means can generate the magnitude of the combined acceleration of the deceleration in the traveling direction and the lateral acceleration in the turning vehicle while the vehicle is turning. The target deceleration in the vehicle's direction of travel is set between the start point of the curve and the minimum radius of curvature so that the maximum lateral acceleration is constant. The acceleration magnitude felt by can be kept constant. Accordingly, the magnitude of the inertial force acting on the vehicle and the occupant can be kept constant in the traveling process from entering the curve to during the curve traveling, and the riding comfort can be further improved.

In the present invention, preferably, the vehicle acceleration / deceleration control device further sets the target acceleration in the traveling direction of the vehicle at the end point of the curve to an acceleration having a magnitude equal to the maximum lateral acceleration, and minimizes the curvature radius of the curve. Target acceleration setting means for setting the target acceleration between the point and the end point to increase from the minimum radius of curvature toward the end point, and when the vehicle travels from the minimum radius of curvature of the curve to the end point And acceleration control means for controlling acceleration in the traveling direction of the vehicle in accordance with the target acceleration set by the target acceleration setting means.
In the present invention configured as described above, the target acceleration setting means sets the target acceleration at the end point of the curve to an acceleration having a magnitude equal to the maximum lateral acceleration that can be generated while the vehicle is turning. The target acceleration between the minimum radius of curvature point and the end point is set so as to increase from the minimum radius of curvature point toward the end point. This makes it possible to match the magnitude of the acceleration felt by the occupant when escaping, and to smoothly change the direction and magnitude of the acceleration felt by the occupant during the curve run. This makes it possible to smoothly change the direction and magnitude of the inertial force acting on the vehicle and the occupant during the traveling process from entering the curve to escaping, thereby improving ride comfort and reducing occupant discomfort. Can do.

In the present invention, it is preferable that the target acceleration setting means has a minimum curvature radius point and an end point of the curve so that the magnitude of the combined acceleration of the traveling direction acceleration and the lateral acceleration in the turning vehicle is constant. The target acceleration in the traveling direction of the vehicle is set.
In the present invention configured as described above, the target acceleration setting means has a maximum lateral force that can be generated while the vehicle is turning, with the magnitude of the combined acceleration of the acceleration in the traveling direction and the lateral acceleration in the turning vehicle. The target acceleration in the vehicle's direction of travel is set between the minimum radius of curvature of the curve and the end of the curve so that the magnitude of the acceleration remains constant. The size can be kept constant. As a result, the magnitude of the inertial force acting on the vehicle and the occupant can be kept constant during the traveling process from entering the curve to escaping, and the riding comfort can be further improved.

In the present invention, it is preferable that the target deceleration setting means specifies a deceleration turning distance from the start point of the curve to the minimum radius of curvature based on the shape information and starts deceleration before entering the curve. Set the deceleration start point so that the deceleration distance from the start point to the start point of the curve is equal to this deceleration turning distance, set the target deceleration at this deceleration start point to 0, and start the deceleration start point and the curve The target deceleration between the points is set so as to increase from the deceleration start point toward the curve start point.
In the present invention configured as described above, the deceleration distance from the deceleration start point to the curve start point is equal to the deceleration turning distance from the curve start point to the minimum radius of curvature, and the deceleration start point and the curve start point Since the target deceleration between and increases from this deceleration start point toward the curve start point, the rate of change in deceleration in the traveling direction during curve travel in the section from the deceleration start point to the curve start point It is possible to increase the deceleration at the same rate of change as this, thereby making it possible to uniformly change the magnitude of the inertial force acting on the vehicle and the occupant, improving the ride comfort and reducing the occupant's uncomfortable feeling Can do.

  The vehicle acceleration / deceleration control device according to the present invention can smoothly change the direction and magnitude of the inertial force acting on the vehicle and the occupant during the travel process from entering the curve to exiting, thereby improving the riding comfort. A passenger's discomfort can be reduced.

It is a block diagram which shows the electric constitution of the vehicle acceleration / deceleration control apparatus by embodiment of this invention. It is a top view which shows an example of the curve which the vehicle carrying the vehicle acceleration / deceleration control apparatus by embodiment of this invention drive | works. It is a flowchart of the target acceleration / deceleration setting process which the vehicle acceleration / deceleration control apparatus by embodiment of this invention performs. It is a diagram which shows the acceleration / deceleration control curve set by the target acceleration / deceleration setting process. It is the top view which showed the lateral acceleration and acceleration / deceleration of the advancing direction which generate | occur | produce when the vehicle carrying the vehicle acceleration / deceleration control apparatus by embodiment of this invention drive | works a curve.

Hereinafter, a vehicle acceleration / deceleration control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, a vehicle equipped with a vehicle acceleration / deceleration control device according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing an electrical configuration of a vehicle equipped with a vehicle acceleration / deceleration control apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, the code | symbol 1 shows the vehicle carrying the vehicle acceleration / deceleration control apparatus by this embodiment. The vehicle 1 includes a vehicle speed sensor 2 that detects a vehicle speed, a camera 4 that images the front of the vehicle 1, a navigation system 6, and an acceleration sensor 8 that detects acceleration in the traveling direction of the vehicle 1. Image data captured by the camera 4, map data and position data acquired by the navigation system 6, and detection values detected by the sensors are output to the vehicle acceleration / deceleration control device 10.

  The vehicle acceleration / deceleration control device 10 acquires shape information including a maximum lateral acceleration acquisition unit 12 that acquires the maximum lateral acceleration that can be generated while the vehicle 1 is turning, and a curvature radius of a curve that exists in front of the vehicle 1. A curve shape information acquisition unit 14 that performs the target acceleration / deceleration setting unit 16 that sets a target acceleration / deceleration in the traveling direction of the vehicle 1 from entry to exit of the curve, and a target acceleration / deceleration set by the target acceleration / deceleration setting unit 16 And an acceleration / deceleration control unit 18 that controls acceleration / deceleration in the traveling direction of the vehicle 1 according to the speed.

The maximum lateral acceleration acquisition unit 12 acquires the maximum lateral acceleration specified based on vehicle information including the weight of the vehicle 1 and tire characteristics.
The curve shape information acquisition unit 14 exists in front of the vehicle 1 based on image data in front of the vehicle 1 captured by the camera 4, current position of the vehicle 1 acquired by the navigation system 6, and map data around it. Get curve shape information.
The target acceleration / deceleration setting unit 16 sets a deceleration start point at which deceleration starts before entering the curve, and an acceleration end point at which acceleration ends after exiting the curve, and the acceleration end point from these deceleration start points. The transitional change (acceleration / deceleration control curve) of the target acceleration / deceleration of the vehicle 1 is set.
The acceleration / deceleration control unit 18 controls the engine 20 or the brake 22 so as to realize the target acceleration / deceleration according to the acceleration / deceleration control curve set by the target acceleration / deceleration setting unit 16.
The maximum lateral acceleration acquisition unit 12, the curve shape information acquisition unit 14, the target acceleration / deceleration setting unit 16, and the acceleration / deceleration control unit 18 are a CPU and various programs (such as an OS that are interpreted and executed on the CPU). And a computer having an internal memory such as a ROM and a RAM for storing the program and various data.

Next, acceleration / deceleration control in the traveling direction of the vehicle 1 performed by the vehicle acceleration / deceleration control device 10 will be described with reference to FIGS.
FIG. 2 is a plan view showing an example of a curve traveled by the vehicle 1 equipped with the vehicle acceleration / deceleration control device 10 according to the embodiment of the present invention, and FIG. 3 shows the vehicle acceleration / deceleration control device 10 according to the embodiment of the present invention. 4 is a flowchart of the target acceleration / deceleration setting process executed by FIG. 4, FIG. 4 is a diagram showing an acceleration / deceleration control curve set by the target acceleration / deceleration setting process, and FIG. 5 is a vehicle acceleration / deceleration according to the embodiment of the present invention. It is the top view which showed the lateral acceleration and acceleration / deceleration of the advancing direction which generate | occur | produce when the vehicle 1 carrying the control apparatus 10 drive | works a curve.

  First, as shown in FIG. 2, in the present embodiment, a case where the vehicle acceleration / deceleration control device 10 controls acceleration / deceleration in the traveling direction of the vehicle 1 from entering the left curve to exiting will be described as an example. The dotted line in FIG. 2 indicates the center line of the lane in which the vehicle 1 travels, and this center line is formed by combining, for example, a clothoid curve, an arc, a parabola, and the like.

  Next, the target acceleration / deceleration setting process shown in FIG. 3 sets a deceleration start point at which deceleration starts before entering the curve, and an acceleration end point at which acceleration ends after exiting the curve. This is a process of setting an acceleration / deceleration control curve from the start point to the acceleration end point, and is executed when a curve exists in front of the vehicle 1 while the vehicle 1 is traveling. For example, the vehicle acceleration / deceleration control device 10 uses the image data in front of the vehicle 1 taken by the camera 4, the current position of the vehicle 1 acquired by the navigation system 6, map data around the vehicle 1, and the like on the road ahead of the vehicle 1. When the radius of curvature R is specified and the radius of curvature R is 300 m or less, the target acceleration / deceleration setting process is executed assuming that a curve exists in front of the vehicle 1.

  As shown in FIG. 3, when the target acceleration / deceleration setting process is started, in step S <b> 1, the curve shape information acquisition unit 14 acquires shape information including the curvature radius of the curve existing ahead of the vehicle 1. For example, the curve shape information acquisition unit 14 acquires the curvature radius at each node of the curve existing in front of the vehicle 1 based on the map data acquired by the navigation system 6. Alternatively, the curve shape information acquisition unit 14 specifies the shape of the curve existing in front of the vehicle 1 based on the image data in front of the vehicle 1 photographed by the camera 4, and is set at a constant interval (for example, 5 m) on the center line of the curve. Nodes are set at intervals, and the radius of curvature at each node is obtained.

Next, in step S2, the maximum lateral acceleration acquisition unit 12 acquires the maximum lateral acceleration G _ymax that can be generated while the vehicle 1 is turning. Specifically, the maximum lateral acceleration acquisition unit 12 acquires, as the maximum lateral acceleration G _ymax , the maximum value of the lateral acceleration that can be generated in the vehicle 1 while turning at a constant vehicle speed in the linear region of the tire friction characteristics. .
For example, if the slip angles of the front and rear tires mounted on the vehicle 1 are β _{f and} β _r , the equivalent cornering power of the front tire is eK _f , and the cornering power of the rear tire is K _r , this occurs in the front and rear tires The cornering forces C _f and C _{r to} be expressed are expressed as C _f = −eK _f β _f and C _r = −2K _r β _r , respectively. In these equations, the maximum cornering forces C _fmax and C _rmax generated in the front and rear tires are obtained by substituting the maximum values (for example, 8 degrees) of the slip angles β _{f and} β _r in the linear region of the friction characteristics of the front and rear tires. be able to. When the vehicle weight is m, the maximum lateral acceleration G _ymax can be calculated from the equation of motion of the vehicle 1 as G _ymax = (C _fmax + C _rmax ) / m. The maximum lateral acceleration G _ymax may be calculated by the maximum lateral acceleration acquisition unit 12 or stored in a memory in advance so that the maximum lateral acceleration acquisition unit 12 reads from the memory as necessary. Also good.

Next, in step S3, the target acceleration / deceleration setting unit 16 determines the curvature radius minimum point (C point in the example of FIG. 2) where the curvature radius R is the minimum value R _min based on the curve shape information acquired in step S1. ) And the target vehicle speed V _min when the lateral acceleration generated in the vehicle 1 during traveling at the minimum radius of curvature is the maximum lateral acceleration G _ymax is calculated by G _ymax ≈V _min ² / R _min .

Next, in step S4, the target acceleration / deceleration setting unit 16 sets the target acceleration / deceleration _Gxent in the traveling direction of the vehicle 1 at the start point of the curve to a deceleration having a magnitude equal to the maximum lateral acceleration _Gymax, and the radius of curvature. the target acceleration G _xmin in the traveling direction of the vehicle 1 at the minimum point is set to 0, the target acceleration G _xExt in the traveling direction of the vehicle 1 at the end point of the curve, the acceleration of the maximum lateral acceleration G _ymax equal size Set. That is, when the acceleration in the traveling direction of the vehicle 1 is positive, the target acceleration / deceleration setting unit 16 has a target acceleration / deceleration G _xmin at a minimum radius of curvature (point C in the example of FIG. 2) as shown in FIG. 0, the target acceleration _G xent = -G _ymax at the curve starting point (B point in the example of FIG. 2), (in the example of FIG. 2 D point) curve end point and target acceleration _G xext = G _ymax in.
The start point and end point of the curve are determined based on the curve shape information acquired in step S1. For example, the target acceleration / deceleration setting unit sets the node closest to the vehicle 1 having a radius of curvature R of 300 m or less among the nodes set on the road ahead of the vehicle 1 as the start point of the curve, and starts from the start point thereafter. The node immediately before the node having a curvature radius R exceeding 300 m is defined as the end point of the curve.

Next, in step S5, the target acceleration / deceleration setting unit 16 sets a deceleration start point at which deceleration starts before entering the curve and an acceleration end point at which acceleration ends after exiting the curve.
Specifically, the target acceleration / deceleration setting unit 16 specifies the arc length L1 from the start point of the curve to the minimum radius of curvature based on the curve shape information acquired in step S1, and the curve of the curve from the start point of deceleration is determined. The deceleration start point is set so that the distance L0 to the start point is equal to L1 (point A in the example of FIG. 2).
Further, the target acceleration / deceleration setting unit 16 specifies the arc length L2 from the curvature radius minimum point to the curve end point based on the curve shape information acquired in step S1, and from the curve end point to the acceleration end point. The acceleration end point is set so that the distance L3 is equal to L2 (E point in the example of FIG. 2).

  Next, in step S6, the target acceleration / deceleration setting unit 16 sets an acceleration / deceleration control curve between the deceleration start point set in step S5 and the acceleration end point.

Specifically, the target acceleration / deceleration setting unit 16 first sets the target deceleration between the start point of the curve and the minimum radius of curvature so as to decrease from the start point toward the minimum radius of curvature. At the same time, the target acceleration between the curvature radius minimum point and the end point of the curve is set to increase from the curvature radius minimum point toward the end point. In this case, the target deceleration setting unit, so that the resultant acceleration G _xy of the magnitude of the target acceleration G _x in the traveling direction of the vehicle 1 during turning and the lateral acceleration G _y is constant, the start point of the curve Set the acceleration / deceleration control curve to the end point.
In step S4, the target acceleration / deceleration setting unit 16 sets the target acceleration / deceleration _Gxent in the traveling direction of the vehicle 1 at the start point of the curve to a deceleration having a magnitude equal to the maximum lateral acceleration _Gymax, and at the minimum radius of curvature point. the target acceleration G _xmin in the traveling direction of the vehicle 1 is set to 0, the target acceleration G _xExt in the traveling direction of the vehicle 1 at the end point of the curve, is set to the acceleration of the maximum lateral acceleration G _ymax equal size Yes. In other words, target acceleration setting unit 16, the synthetic acceleration G _xy dimensions of the vehicle 1 during turning to set the deceleration control curve to be constant at G _ymax.

For example, as shown in FIG. 2, the target acceleration / deceleration setting unit 16 first determines that the vehicle speed V _{n at} the node P _n adjacent to the curve start point side with respect to the curvature radius minimum point is the curvature radius calculated in step S3. It is approximated to be equal to the target vehicle speed V _min at the minimum point. In this case, the lateral acceleration G _yn at the node P _n, based on the curvature radius R _n in the acquired node P _n at the step S1, is calculated to ^{_{G yn ≒ V min 2 / R}} n. Therefore, the target acceleration / deceleration setting unit 16 calculates the target acceleration / deceleration G _xn at the node P _n by G _xn ² + G _yn ² = G _ymax ² .
Then, the target acceleration setting unit 16, the node P and the vehicle speed V _n-1 at the node P _n-1 which further adjacent to the start point side with respect to _n, the node distance l, the vehicle speed V _n at the node P _n, Based on the target acceleration / deceleration G _xn , V _n-1 = (V _n ² -2G _xn 1) ^1/2 is calculated. In this case, the node P lateral acceleration G _yn-1 in the _n-1, based on the curvature radius R _n-1 at the node P _n-1 obtained at step _{S1, G yn-1 ≒ V} n-1 2 / R n Calculated as _-1 . Therefore, the target acceleration / deceleration setting unit 16 calculates the target acceleration / deceleration G _xn-1 at the node P _n-1 by G _xn-1 ² + G _yn-1 ² = G _ymax ² .
Similarly, the target acceleration / deceleration setting unit 16 sets the target acceleration / deceleration at each node between the minimum radius of curvature and the start point of the curve, and at each node between the minimum radius of curvature and the end point of the curve. G _x is calculated, and an approximate curve generated from the target acceleration / deceleration G _{x at} each node is set as an acceleration / deceleration control curve from the start point to the end point of the curve.

  Further, as shown in FIG. 4, the target acceleration / deceleration setting unit 16 curves the acceleration / deceleration control curve from the deceleration start point to the curve start point, and the acceleration / deceleration control curve from the curve start point to the curvature radius minimum point. Set as an inverted curve with reference to the starting point. The target acceleration / deceleration setting unit 16 reverses the acceleration / deceleration control curve from the end point of the curve to the acceleration end point, and the acceleration / deceleration control curve from the minimum radius of curvature to the end point of the curve with reference to the end point of the curve. Set as a curved line.

Next, the process proceeds to step S7, where the target acceleration / deceleration setting unit 16 is based on the acceleration / deceleration control curve from the deceleration start point set in step S6 to the minimum radius of curvature and the target vehicle speed _Vmin at the minimum radius of curvature. Then, the target vehicle speed V ₀ at the deceleration start point is set.
After this step S7, the target acceleration / deceleration setting unit 16 ends the target acceleration / deceleration setting process.

The acceleration / deceleration control unit 18 controls the acceleration / deceleration of the vehicle 1 according to the acceleration / deceleration control curve set in the target acceleration / deceleration setting process. That is, the acceleration / deceleration control unit 18 controls the engine 20 and the brake 22 of the vehicle 1 so that the vehicle speed is V ₀ and the acceleration / deceleration is 0 at the deceleration start point. Next, the engine 20 and the brake 22 of the vehicle 1 are controlled so as to generate the deceleration of the acceleration / deceleration control curve set in step S6 from the deceleration start point to the curvature radius minimum point. Further, the engine 20 of the vehicle 1 is controlled so as to generate the acceleration of the acceleration / deceleration control curve set in step S6 from the curvature radius minimum point to the acceleration end point.

Thus, the acceleration / deceleration control unit 18 controls the acceleration / deceleration of the vehicle 1, and as shown in FIG. 5, the resultant acceleration G generated in the vehicle 1 when the vehicle 1 travels from the curve start point to the curve end point. The magnitude of _xy is maintained at the magnitude of the maximum lateral acceleration G _ymax generated in the vehicle 1 while traveling at the minimum radius of curvature.

Next, further modifications of the embodiment of the present invention will be described.
In the above-described embodiment, the vehicle 1 equipped with the vehicle acceleration / deceleration control device 10 has been described as an example in which an internal combustion engine 20 such as a gasoline engine or a diesel engine is mounted as a power source. Alternatively, a battery and a motor may be mounted on the vehicle 1 as a power source together with the engine 20. In this case, the acceleration / deceleration control unit 18 controls the motor and the brake 22 of the vehicle 1 according to the acceleration / deceleration control curve set in the target acceleration / deceleration setting process.

  Next, effects of the vehicle acceleration / deceleration control device 10 according to the above-described embodiment of the present invention and the modification of the embodiment of the present invention will be described.

First, the target deceleration setting unit sets the target deceleration G _xent at the start point of the curve to a deceleration having a magnitude equal to the maximum lateral acceleration G _ymax that can be generated while the vehicle 1 is turning. The target deceleration G _xmin in the traveling direction of the vehicle 1 at the minimum curvature radius point is set to 0, and the target deceleration G _x between the start point of the curve and the minimum curvature radius point is determined from this start point to the minimum curvature radius point. Is set to decrease toward the vehicle, so that the deceleration felt by the occupant when entering the curve matches the maximum lateral acceleration felt by the occupant during the curve and the acceleration felt by the occupant during the curve. The direction and size of can be changed smoothly. This makes it possible to smoothly change the direction and magnitude of the inertial force acting on the vehicle 1 and the occupant during the travel process from entering the curve to during the cruising, thereby improving ride comfort and reducing occupant discomfort. Can be realized.

In particular, the target deceleration setting unit determines that the magnitude of the combined acceleration G _xy of the traveling direction deceleration G _x and the lateral acceleration G _y in the vehicle 1 that is turning is the maximum that the vehicle 1 can generate while turning. to be constant in magnitude of the lateral acceleration G _ymax, since setting the target deceleration G _x in the traveling direction of the vehicle 1 between the starting point and the radius of curvature smallest point of the curve, the curve from the time of entry into the curve The magnitude of acceleration felt by the occupant during traveling can be kept constant. Accordingly, the magnitude of the inertial force acting on the vehicle 1 and the occupant can be kept constant in the traveling process from entering the curve to during the curve traveling, and the riding comfort can be further improved.

The target acceleration setting unit sets the target acceleration G _xext at the end point of the curve to an acceleration having a magnitude equal to the maximum lateral acceleration G _ymax that can be generated while the vehicle 1 is turning, and minimizes the curvature radius of the curve. The target acceleration G _x between the point and the end point is set so as to increase from the minimum point of curvature radius toward the end point, so the maximum lateral acceleration felt by the occupant during the curve and the escape from the curve It is possible to match the magnitude of acceleration sometimes felt by the occupant and to smoothly change the direction and magnitude of acceleration felt by the occupant during curve driving. This makes it possible to smoothly change the direction and magnitude of the inertial force acting on the vehicle 1 and the occupant during the traveling process from entering the curve to escaping, thereby improving the riding comfort and reducing the occupant's discomfort. be able to.

In addition, the target acceleration setting unit determines the maximum lateral acceleration that can be generated while the vehicle 1 is turning by the magnitude of the combined acceleration G _xy of the acceleration G _x and the lateral acceleration G _y in the traveling direction of the vehicle 1 that is turning. to be constant in magnitude of G _ymax, so sets the target acceleration G _x in the traveling direction of the vehicle 1 between the end point and the radius of curvature smallest point of the curve, the passenger from being cornering until exiting a curve The acceleration magnitude felt by can be kept constant. As a result, the magnitude of the inertial force acting on the vehicle 1 and the occupant can be kept constant in the traveling process from entering the curve to exiting, and the riding comfort can be further improved.

The deceleration distance L0 from the deceleration start point to the curve start point is equal to the deceleration turning distance L1 from the curve start point to the curvature radius minimum point, and the target deceleration between the deceleration start point and the curve start point is the same. G _x is because increases from the deceleration start point to the start point of the curve, in the section from the deceleration start point to the start point of the curve, the deceleration rate of change in the traveling direction during cornering as well as the rate of change Thus, the deceleration can be increased, whereby the magnitude of the inertial force acting on the vehicle 1 and the occupant can be changed uniformly, and the riding comfort can be improved and the occupant's uncomfortable feeling can be reduced.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Vehicle speed sensor 4 Camera 6 Navigation system 8 Acceleration sensor 10 Vehicle acceleration / deceleration control device 12 Maximum lateral acceleration acquisition unit 14 Curve shape information acquisition unit 16 Target acceleration / deceleration setting unit 18 Acceleration / deceleration control unit 20 Engine 22 Brake

Claims (5)

A vehicle acceleration / deceleration control device that controls acceleration / deceleration in the traveling direction of a vehicle from entry to exit to a curve,
Maximum lateral acceleration acquisition means for acquiring the maximum lateral acceleration that can be generated while the vehicle is turning;
Curve shape information acquisition means for acquiring shape information including a curvature radius of a curve existing in front of the vehicle;
The target deceleration in the vehicle traveling direction at the starting point of the curve specified based on the shape information is set to a deceleration having the same magnitude as the maximum lateral acceleration, and the curvature of the curve specified based on the shape information is set. The target deceleration in the traveling direction of the vehicle at the minimum radius point is set to 0, and the target deceleration between the start point of the curve and the minimum radius of curvature is decreased from the start point toward the minimum radius of curvature. Target deceleration setting means for setting
Deceleration control means for controlling deceleration in the traveling direction of the vehicle according to the target deceleration set by the target deceleration setting means when the vehicle travels from the start point of the curve to the minimum radius of curvature. A vehicle acceleration / deceleration control device.   The target deceleration setting means is a vehicle between the start point of the curve and the minimum radius of curvature so that the magnitude of the combined acceleration of the deceleration in the traveling direction and the lateral acceleration in the turning vehicle is constant. The vehicle acceleration / deceleration control device according to claim 1, wherein a target deceleration in the traveling direction is set. Further, the target acceleration in the traveling direction of the vehicle at the end point of the curve is set to an acceleration having the same magnitude as the maximum lateral acceleration, and the target acceleration between the minimum curvature radius point and the end point of the curve is Target acceleration setting means for setting so as to increase from the minimum radius of curvature toward the end point;
2. An acceleration control means for controlling acceleration in the traveling direction of the vehicle in accordance with the target acceleration set by the target acceleration setting means when the vehicle travels from a curvature radius minimum point to an end point of the curve. Or the vehicle acceleration / deceleration control device according to 2;   The target acceleration setting means is configured such that the vehicle travels between the curvature radius minimum point and the end point of the curve so that the magnitude of the combined acceleration of the acceleration in the traveling direction and the lateral acceleration in the turning vehicle is constant. The vehicle acceleration / deceleration control device according to claim 3, wherein a target acceleration in a direction is set.   The target deceleration setting means specifies a deceleration turning distance from the start point of the curve to the minimum radius of curvature based on the shape information, and starts the deceleration before entering the curve. The deceleration start point is set so that the deceleration distance to the starting point becomes equal to the deceleration turning distance, the target deceleration at this deceleration start point is set to 0, and the deceleration start point and the curve start point are The vehicle acceleration / deceleration control device according to any one of claims 1 to 4, wherein a target deceleration between is set so as to increase from the deceleration start point toward the curve start point.

Images